field radiation measurement using orpheus robot

Field Radiation Measurement Using Orpheus Robot

Ludek Zalud,Tomas Jilek, Petra Kocmanova

Brno University of Technology

Jan Helebrant, Lubomir Gryc, Irena Cespirova

SURO v.v.i.

Two experiments

• I. Ground Radioactive ContaminationMeasurement Experiment

• II. Lost Radiation Sources Experiment

• cooperation with SURO (Statni ustav radiacniochrany)

Orpheus-AC2

• CBRN robot

• rugged construction

• inside armored CBRN vehicle

• remote control from cockpit

• 2 chemical, 2 radiation sensors

• MIL-STD tests – environmental, EMC, special

• since 11/2013 in armament of Czech Army

ORPHEUS-X3

SENSORY HEAD

3DOF ARM

TANK-LIKE DRIVE

ROBUST CONSTRUCTION

ORPHEUS-AC2 DRIVE SYSTEM

Possible Missions

RECONNAISSANCE AND MAPPING

CBRNE

FIRE FIGHTING

MULTISPECTRAL MAPPING

ENVIRONMENT MEASUREMENT

Outdoor Navigation – RTK GNSS

• automatic waypoint generation

• automatic mission return

• GNSS with custom Base Station

• known precision

• also azimuth – RTK compass

GNSS Scheme

GNSS

reference

(base

station)

corrections

operator

station

commu-

nication

module

control

localization

GNSS

receiver

(rover)

orientation (θ)position (ϕ, λ, H)

mobile robot

PP V

Navigation Scheme

Momentum Reduction Scheme

Current Status – outdoor

• ORPHEUS-X4 prototype and URANUS quadro

• robots may be combined to extend mission capabilities

• teleoperated and autonomous operation

Orpheus-X3, modifications

• sensory head was deactivated

• steel/aluminum frame for GNSS antennas and scintillation radiation probe was constructed

Ground Radioactive ContaminationMeasurement Experiment

• TASK: measure La-140 isotope dust spread on grass-covered meadow

• Data Time-synchronization, position measurement only

• Operator control – no autonomous navigation

Lost Radiation Sources Experiment

• TASK: Localize randomly located sealed radiation sources

• Two parts – greater area, and smaller area with more dense measurements

• Fully autonomous navigation and selflocalization

Experiment 2a – selfloc with “standard” L1 GPS

Experiment 2a – selfloc with RTK GNSS

Experiment 2b – trajectory planning

Radiation Intensity Map [nGy/h]

Radiation Intensity Aligned With Orthofoto Map

RTK GNSS and GPS L1 Map Comparison

THANK YOU FOR YOUR ATTENTION